Vehicle control method and device and vehicle

Abstract

The invention provides a vehicle control method and device and a vehicle, and relates to the technical field of automatic driving. The method comprises the following steps: determining the attribute of a target lane where a vehicle is located in response to the vehicle entering an intersection, and determining whether the target lane has a waiting area; if the target lane has the waiting area, acquiring traffic signal lamp data of an intersection; and controlling the driving behavior of the vehicle in the waiting area based on the traffic signal lamp data and the attribute of the target lane. According to the scheme, the driving behavior of the vehicle in the waiting area can be dynamically controlled based on the traffic signal lamp data and the type of the specific waiting area, so that the automatic driving vehicle can safely pass through the intersection, and the vehicle passing risk is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and more particularly to a vehicle control method, device and vehicle. Background Art

[0002] At present, autonomous driving technology has received widespread attention and has developed rapidly. In order to increase the number of motor vehicles passing through intersections and reduce vehicle detention, some intersections have waiting areas, and the types of waiting areas vary in different regions, and the traffic rules corresponding to each type of waiting area are different. Therefore, autonomous driving technology needs to set corresponding traffic strategies for specific waiting areas to reduce vehicle traffic risks. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a vehicle control method, device and vehicle.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method, comprising:

[0005] In response to the ego vehicle entering the intersection, determining the attribute of the target lane where the ego vehicle is located, and determining whether there is a waiting area in the target lane;

[0006] If there is a waiting area in the target lane, obtain the traffic light data at the intersection;

[0007] Based on the traffic light data and the attributes of the target lane, the driving behavior of the vehicle in the waiting area is controlled.

[0008] As a possible implementation method, determining the attributes of the target lane where the ego vehicle is located and determining whether there is a waiting area in the target lane includes:

[0009] Based on the high-precision map and positioning module configured in the vehicle, the waiting area information of the intersection and the attributes of the target lane are obtained;

[0010] According to the waiting area information, determine whether there is a waiting area corresponding to the attributes of the target lane at the intersection;

[0011] If there is a waiting area corresponding to the attribute of the target lane at the intersection, it is determined that there is a waiting area for the target lane.

[0012] As another possible implementation method, determining the attributes of the target lane where the ego vehicle is located and determining whether the target lane has a waiting area includes:

[0013] Based on the image acquisition device equipped on the vehicle, the lane image of the intersection is obtained;

[0014] Performing first target recognition on the lane image to determine the attributes of the target lane where the vehicle is located;

[0015] Performing a second target recognition on the lane image to determine whether there is a dotted lane corresponding to the attributes of the target lane at the intersection;

[0016] If there is a dashed lane corresponding to the attributes of the target lane at the intersection, it is determined that there is a waiting area in the target lane.

[0017] In some embodiments of the present disclosure, based on the traffic light data and the properties of the target lane, the driving behavior of the vehicle in the waiting area is controlled, including:

[0018] Based on the traffic light data and the properties of the target lane, determining whether a current state of a first type of traffic light associated with the target lane is a first traffic signal state;

[0019] If the current state of the first type of traffic signal light is the first traffic signal state, obtaining vehicle information in the waiting area;

[0020] According to the vehicle information in the waiting area, the driving behavior of the vehicle in the waiting area is controlled.

[0021] As an example, according to the vehicle information in the waiting area, the driving behavior of the vehicle in the waiting area is controlled, including:

[0022] Determine whether there is a vehicle in the waiting area according to the vehicle information in the waiting area;

[0023] If there is no vehicle in the waiting area, control your vehicle to enter the waiting area.

[0024] As another example, according to the vehicle information in the waiting area, controlling the driving behavior of the vehicle in the waiting area includes:

[0025] Determine whether there is a vehicle in the waiting area according to the vehicle information in the waiting area;

[0026] If there are vehicles in the waiting area, determine the remaining space in the waiting area;

[0027] Determine whether the waiting area can accommodate the vehicle based on the remaining space and the length of the vehicle;

[0028] If the waiting area can accommodate the vehicle, control the vehicle to enter the waiting area.

[0029] In some embodiments of the present disclosure, the method further includes:

[0030] Based on the traffic light data and the attributes of the target lane, determining whether the traffic light data of the first type is missing;

[0031] If the data of the first type of traffic light is not missing in the traffic light data, performing the step of determining whether the current state of the first type of traffic light associated with the target lane is the first traffic signal state based on the traffic light data and the attributes of the target lane;

[0032] If the data of the first type of traffic light is missing in the traffic light data, a first request is issued as to whether to enter the waiting area;

[0033] In response to receiving the feedback instruction of the first request, the driving behavior of the vehicle in the waiting area is controlled according to the feedback instruction of the first request.

[0034] In some other embodiments of the present disclosure, based on the traffic light data and the attributes of the target lane, the driving behavior of the vehicle in the waiting area is controlled, including:

[0035] Based on the traffic light data and the properties of the target lane, determining whether a current state of the first type of traffic light associated with the target lane is a second traffic signal state;

[0036] If the current state of the first type of traffic signal light is the second traffic signal state, obtaining the real-time distance between the vehicle and the stop line of the target lane;

[0037] When the real-time distance is less than or equal to the preset distance threshold, the vehicle is controlled to brake and stop.

[0038] In some other embodiments of the present disclosure, based on the traffic light data and the properties of the target lane, the driving behavior of the vehicle in the waiting area is controlled, including:

[0039] Determining, based on the traffic light data and the properties of the target lane, whether a current state of the first type of traffic light associated with the target lane is a third traffic signal state;

[0040] If the current state of the first type of traffic signal light is the third traffic signal state, the vehicle is controlled to travel through the waiting area.

[0041] In some other embodiments of the present disclosure, based on the traffic light data and the properties of the target lane, the driving behavior of the vehicle in the waiting area is controlled, including:

[0042] Determining that the traffic light data contains semantic information; wherein the semantic information is information for indicating whether to enter the waiting area;

[0043] Determining, based on the traffic light data and the properties of the target lane, whether a current state of the second type of traffic light associated with the target lane is a fourth traffic signal state;

[0044] If the current state of the second type of traffic signal light is the fourth traffic signal state, issuing a second request whether to enter the waiting area;

[0045] In response to receiving the feedback instruction of the second request, the driving behavior of the vehicle in the waiting area is controlled according to the feedback instruction of the second request.

[0046] Among them, according to the feedback instruction, the driving behavior of the vehicle in the waiting area is controlled, including:

[0047] If the feedback instruction is an instruction to confirm entering the waiting area, the vehicle is controlled to enter the waiting area.

[0048] According to a second aspect of an embodiment of the present disclosure, there is provided a vehicle control device, comprising:

[0049] A determination module, for determining the attributes of the target lane where the ego vehicle is located, and determining whether there is a waiting area in the target lane in response to the ego vehicle entering the intersection;

[0050] An acquisition module, used to acquire traffic light data at the intersection when there is a waiting area in the target lane;

[0051] The control module is used to control the driving behavior of the vehicle in the waiting area based on the traffic light data and the attributes of the target lane.

[0052] As a possible implementation method, the determination module is specifically used for:

[0053] Based on the high-precision map and positioning module configured in the vehicle, the waiting area information of the intersection and the attributes of the target lane are obtained;

[0054] According to the waiting area information, determine whether there is a waiting area corresponding to the attributes of the target lane at the intersection;

[0055] If there is a waiting area corresponding to the attribute of the target lane at the intersection, it is determined that there is a waiting area for the target lane.

[0056] As another possible implementation manner, the determination module is further configured to:

[0057] Based on the image acquisition device equipped on the vehicle, the lane image of the intersection is obtained;

[0058] Performing first target recognition on the lane image to determine the attributes of the target lane where the vehicle is located;

[0059] Performing a second target recognition on the lane image to determine whether there is a dotted lane corresponding to the attributes of the target lane at the intersection;

[0060] If there is a dashed lane corresponding to the attributes of the target lane at the intersection, it is determined that there is a waiting area in the target lane.

[0061] In some embodiments of the present disclosure, the control module includes:

[0062] a first determining unit, configured to determine whether a current state of a first type of traffic light associated with the target lane is a first traffic signal state based on the traffic light data and the attribute of the target lane;

[0063] an acquisition unit, configured to acquire vehicle information in the waiting area if the current state of the first type of traffic signal light is the first traffic signal state;

[0064] The first control unit is used to control the driving behavior of the vehicle in the waiting area according to the vehicle information in the waiting area.

[0065] As an example, the first control unit is specifically configured to:

[0066] Determine whether there is a vehicle in the waiting area according to the vehicle information in the waiting area;

[0067] If there is no vehicle in the waiting area, control your vehicle to enter the waiting area.

[0068] As another example, the first control unit is further configured to:

[0069] Determine whether there is a vehicle in the waiting area according to the vehicle information in the waiting area;

[0070] If there are vehicles in the waiting area, determine the remaining space in the waiting area;

[0071] Determine whether the waiting area can accommodate the vehicle based on the remaining space and the length of the vehicle;

[0072] If the waiting area can accommodate the vehicle, control the vehicle to enter the waiting area.

[0073] In some other embodiments of the present disclosure, the control module further includes:

[0074] a second determining unit, configured to determine whether data of a first type of traffic light is missing in the traffic light data based on the traffic light data and the attribute of the target lane;

[0075] A request unit, configured to issue a first request for entering a waiting area if data of a first type of traffic light is missing from the traffic light data;

[0076] A second control unit is used to control the driving behavior of the vehicle in the waiting area in response to receiving the feedback instruction of the first request according to the feedback instruction of the first request;

[0077] Among them, the first determination unit is used to determine whether the current state of the first type of traffic light associated with the target lane is the first traffic signal state based on the traffic light data and the attributes of the target lane if the data of the first type of traffic light is not missing in the traffic light data.

[0078] As a possible implementation, the control module is specifically used for:

[0079] Based on the traffic light data and the properties of the target lane, determining whether a current state of the first type of traffic light associated with the target lane is a second traffic signal state;

[0080] If the current state of the first type of traffic signal light is the second traffic signal state, obtaining the real-time distance between the vehicle and the stop line of the target lane;

[0081] When the real-time distance is less than or equal to the preset distance threshold, the vehicle is controlled to brake and stop.

[0082] As another possible implementation, the control module is further configured to:

[0083] Determining, based on the traffic light data and the properties of the target lane, whether a current state of the first type of traffic light associated with the target lane is a third traffic signal state;

[0084] If the current state of the first type of traffic signal light is the third traffic signal state, the vehicle is controlled to travel through the waiting area.

[0085] In some embodiments of the present disclosure, the control module is further configured to:

[0086] Determining that the traffic light data contains semantic information; wherein the semantic information is information for indicating whether to enter the waiting area;

[0087] Determining, based on the traffic light data and the properties of the target lane, whether a current state of the second type of traffic light associated with the target lane is a fourth traffic signal state;

[0088] If the current state of the second type of traffic signal light is the fourth traffic signal state, issuing a second request whether to enter the waiting area;

[0089] In response to receiving the feedback instruction of the second request, the driving behavior of the vehicle in the waiting area is controlled according to the feedback instruction of the second request.

[0090] As an example, the control module is also used to:

[0091] If the feedback instruction is an instruction to confirm entering the waiting area, the vehicle is controlled to enter the waiting area.

[0092] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, wherein the vehicle is equipped with the vehicle control device described in the second aspect.

[0093] According to a fourth aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle control method described in the first aspect above is implemented.

[0094] According to a fifth aspect of an embodiment of the present disclosure, there is provided a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the vehicle control method described in the first aspect is implemented.

[0095] According to a sixth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program implements the vehicle control method described in the first aspect above when executed by a processor.

[0096] The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: when the self-vehicle enters the intersection, the attributes of the target lane where the self-vehicle is located are determined, and whether the target lane has a waiting area. If the target lane has a waiting area, the traffic light data of the intersection is obtained, and the driving behavior of the self-vehicle in the waiting area is controlled based on the traffic light data and the attributes of the target lane. In other words, this solution can dynamically control the driving behavior of the vehicle in the waiting area based on the traffic light data and the type of the specific waiting area, so as to ensure that the autonomous driving vehicle passes the intersection safely and reduce the risk of vehicle traffic.

[0097] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0099] Figure 1 is a flow chart of a vehicle control method according to an exemplary embodiment;

[0100] Figure 2 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0101] Figure 3 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0102] Figure 4 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0103] Figure 5is a flow chart of another vehicle control method according to an exemplary embodiment;

[0104] Figure 6 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0105] Figure 7 is a flow chart of another vehicle control method according to an exemplary embodiment;

[0106] Figure 8 This is an example diagram of a traffic light at an intersection;

[0107] Fig. 9 is an exemplary diagram showing a vehicle control method according to an exemplary embodiment;

[0108] Fig.10 is an exemplary diagram showing another vehicle control method according to an exemplary embodiment;

[0109] Fig.11 is a structural block diagram of a vehicle control device according to an exemplary embodiment;

[0110] Fig.12 is a structural block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0111] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0112] It should be noted that autonomous driving technology has received widespread attention and has developed rapidly. In order to increase the number of motor vehicles passing through intersections and reduce vehicle detention, some intersections have waiting areas, and the types of waiting areas vary in different regions, and the traffic rules corresponding to each type of waiting area are different. Therefore, autonomous driving technology needs to set corresponding traffic strategies for specific waiting areas to reduce vehicle traffic risks.

[0113] In order to solve the above problems, the present disclosure provides a vehicle control method, device and vehicle.

[0114] Figure 1is a flow chart of a vehicle control method according to an exemplary embodiment. It should be noted that the vehicle control method of the embodiment of the present disclosure can be used in the vehicle control device of the embodiment of the present disclosure, and the vehicle control device of the embodiment of the present disclosure can be configured in a vehicle. Figure 1 As shown, the method may include the following steps:

[0115] Step 101, in response to the vehicle entering the intersection, determining the attributes of the target lane where the vehicle is located, and determining whether there is a waiting area in the target lane.

[0116] Whether the vehicle enters the intersection may be determined based on the distance between the vehicle and the intersection, and the distance between the vehicle and the intersection may be determined based on a navigation module configured for the vehicle. As an example, based on the navigation module, the real-time distance between the vehicle and the nearest intersection may be obtained, and when the real-time distance is less than or equal to the corresponding distance threshold, it is determined that the vehicle enters the intersection, so as to trigger step 101.

[0117] In some embodiments of the present disclosure, the target lane where the ego vehicle is located refers to the lane where the ego vehicle is currently traveling, and the attribute of the target lane refers to whether the target lane is a straight lane, a left turn lane, or a right turn lane. As an example, the attribute of the target lane where the ego vehicle is located can be determined in the following manner: based on the lane image captured by the camera equipped with the ego vehicle during the ego vehicle's driving process, the lane image is subjected to lane line recognition and road surface arrow recognition to determine the attribute of the target lane.

[0118] In some embodiments of the present disclosure, the waiting area may be a left-turn waiting area or a straight-ahead waiting area, and the type of the waiting area of ​​the target lane is consistent with the attribute of the target lane. For example, if the attribute of the target lane is a left-turn lane, and if the target lane has a waiting area, then the waiting area of ​​the target lane is a left-turn waiting area. For another example, if the attribute of the target lane is a straight-ahead lane, and if the target lane has a waiting area, then the waiting area of ​​the target lane is a straight-ahead waiting area.

[0119] As a possible implementation method, determining whether there is a waiting area in the target lane can be implemented as follows: based on the high-precision map and positioning module equipped by the vehicle, determining whether there is a waiting area at the current intersection and the type of the waiting area; if there is a waiting area at the current intersection, determining whether there is a waiting area matching the attributes of the target lane according to the type of the waiting area and the attributes of the target lane; if there is a waiting area matching the attributes of the target lane at the current intersection, determining that there is a waiting area in the target lane.

[0120] Step 102: If there is a waiting area in the target lane, obtain the traffic light data of the intersection.

[0121] The traffic light data at the intersection includes the data of the traffic lights of each lane in the intersection that the vehicle enters, that is, the status data of each traffic light at the intersection. If the intersection is provided with a traffic light in a waiting area, the traffic light data at the intersection may also include the data of the traffic light in the waiting area. It should be noted that the traffic light data may be the traffic light data from the time when the vehicle enters the intersection to the time when the vehicle passes through the intersection.

[0122] In some embodiments of the present disclosure, traffic light data can be obtained in the following manner: taking images of traffic lights at intersections using a camera equipped on the vehicle; performing target recognition on the captured traffic light images to determine the status of each traffic light, thereby obtaining traffic light data for the intersection.

[0123] In some other embodiments of the present disclosure, traffic light data can be obtained by initiating a data access request to a traffic light management platform, the request carrying the coordinate information of the current intersection, receiving the data of all traffic lights at the current intersection returned by the traffic light management platform based on the data access request, and sending a request to stop data access to the traffic light management platform when the vehicle passes through the current intersection to terminate the return of data from the traffic light management platform. The traffic light management platform can continue to return the data of the traffic lights at the current intersection based on the data access request until the request to stop data access is received, and then the traffic light data is no longer returned to the vehicle.

[0124] Step 103: Based on the traffic light data and the attributes of the target lane, the driving behavior of the vehicle in the waiting area is controlled.

[0125] It can be understood that the type of the waiting area of ​​the target lane can be determined based on the attributes of the target lane. Since different types of waiting areas correspond to different traffic driving rules, the driving behavior of the vehicle in the waiting area is controlled based on the traffic light data and the attributes of the target lane.

[0126] In some embodiments of the present disclosure, controlling the driving behavior of the vehicle in the waiting area based on traffic light data and the attributes of the target lane may include: determining the waiting area type of the target lane according to the attributes of the target lane; determining the waiting area driving rules of the target lane based on preset different types of waiting area driving rules; determining whether the vehicle enters the waiting area according to the waiting area driving rules of the target lane and the traffic light data, and controlling the driving behavior of the vehicle.

[0127] As a possible implementation method, if the target lane is a straight lane, the state of the traffic light in the straight lane and the state of the traffic light in the left turn lane can be combined to determine whether the vehicle can enter the waiting area. As an example, if the current traffic lights in the left turn lane and the straight lane are both red, the vehicle is controlled to brake before the stop line of the target lane, and wait for the traffic light in the left turn lane to turn green, and then the vehicle is controlled to enter the waiting area; if the current traffic light in the left turn lane is green and the traffic light in the straight lane is red, the vehicle is controlled to enter the waiting area; if the traffic light in the straight lane is green, the vehicle is controlled to drive through the waiting area.

[0128] According to the vehicle control method of the embodiment of the present disclosure, when the self-vehicle enters the intersection, the properties of the target lane where the self-vehicle is located are determined, and whether the target lane has a waiting area. If the target lane has a waiting area, the traffic light data of the intersection is obtained, and the driving behavior of the self-vehicle in the waiting area is controlled based on the traffic light data and the properties of the target lane. In other words, this solution can dynamically control the driving behavior of the vehicle in the waiting area based on the traffic light data and the type of the specific waiting area, so as to ensure that the autonomous driving vehicle passes through the intersection safely and reduce the risk of vehicle traffic.

[0129] Next, the implementation method for determining the attributes of the target lane where the vehicle is located and determining whether there is a waiting area in the target lane will be introduced.

[0130] Figure 2 FIG. 1 is a flow chart of another vehicle control method according to an exemplary embodiment. Figure 2 As shown, based on the above embodiments, Figure 1 Step 101 in the method may include the following steps:

[0131] Step 201, based on the high-precision map and positioning module configured in the vehicle, obtain the waiting area information of the intersection and the attributes of the target lane.

[0132] The waiting area information of the intersection is information indicating which waiting areas the intersection includes and the type of each waiting area.

[0133] Step 202: Determine whether there is a waiting area corresponding to the attributes of the target lane at the intersection according to the waiting area information.

[0134] That is to say, if the attribute of the target lane is a straight lane, then based on the waiting area information, it is determined whether there is a straight waiting area at the intersection; if the attribute of the target lane is a left turn lane, then based on the waiting area information, it is determined whether there is a left turn waiting area at the intersection.

[0135] Step 203: If there is a waiting area corresponding to the attribute of the target lane at the intersection, it is determined that there is a waiting area for the target lane.

[0136] According to the vehicle control method of the embodiment of the present disclosure, based on the high-precision map and positioning module configured in the vehicle, the waiting area information of the intersection and the attributes of the target lane are obtained, and based on the waiting area information, it is determined whether there is a waiting area corresponding to the attributes of the target lane at the intersection. If there is a waiting area corresponding to the attributes of the target lane at the intersection, it is determined that there is a waiting area in the target lane. In other words, this solution can determine whether there is a waiting area in the target lane based on the high-precision map and positioning module equipped by the vehicle, so as to control the driving behavior at the intersection with the waiting area, thereby improving the safety of automatic driving.

[0137] During vehicle driving, there may be areas that are not covered by the high-precision map. For this situation, the present disclosure provides another embodiment.

[0138] Figure 3 FIG. 1 is a flow chart of another vehicle control method according to an exemplary embodiment. Figure 3 As shown, based on the above embodiments, Figure 1 Step 101 in the method may further include the following steps:

[0139] Step 301, based on the image acquisition device equipped on the vehicle, the lane image of the intersection is obtained.

[0140] The image acquisition device equipped in the vehicle may be a camera sensor, a camera, etc. For example, the road surface may be photographed by a camera configured at the front of the vehicle and cameras configured at the rearview mirrors on both sides to obtain lane images at the intersection.

[0141] Step 302: Perform a first target recognition on the lane image to determine the attributes of the target lane where the vehicle is located.

[0142] In some embodiments of the present disclosure, the first target recognition includes lane line recognition and road arrow recognition in the lane image to determine the target lane in which the vehicle is located and the attributes of the target lane.

[0143] Step 303: Perform a second target recognition on the lane image to determine whether there is a dotted lane corresponding to the attributes of the target lane at the intersection.

[0144] In some embodiments of the present disclosure, the second target recognition can identify the dashed lane of the lane image to determine whether there is a dashed lane corresponding to the attributes of the target lane in the lane image. For example, if the target lane is a straight lane, it can be identified whether the lane image contains a dashed lane for straight driving. If the lane image contains a dashed lane for straight driving, it is determined that there is a dashed lane corresponding to the attributes of the target lane at the intersection; if the target lane is a left-turn lane, it can be identified whether the lane image contains a dashed lane for left turning. If the lane image contains a dashed lane for left turning, it is determined that there is a dashed lane corresponding to the attributes of the target lane at the intersection.

[0145] Step 304: If there is a dashed lane at the intersection that corresponds to the attributes of the target lane, it is determined that there is a waiting area in the target lane.

[0146] According to the vehicle control method of the embodiment of the present disclosure, the road surface can be photographed by the image acquisition module equipped by the vehicle to obtain a lane image, and the image processing can be used to determine whether there is a waiting area in the target lane. In areas not covered by high-precision maps, this solution can determine whether there is a waiting area in the target lane through images captured by the image acquisition module to improve the accuracy of the waiting area identification, thereby improving the accuracy of controlling the vehicle's driving behavior in the waiting area, and also improving the safety of autonomous driving.

[0147] Next, the control of the vehicle's driving behavior in the waiting area based on traffic light data and the properties of the target lane will be introduced in detail.

[0148] Figure 4 FIG. 1 is a flow chart of another vehicle control method according to an exemplary embodiment. Figure 4 As shown, based on the above embodiments, Figure 1 Step 103 in the method may include the following steps:

[0149] Step 401 : Based on the traffic light data and the attributes of the target lane, determine whether the current state of the first type of traffic light associated with the target lane is a first traffic signal state.

[0150] The first traffic signal state refers to a traffic signal state in which the vehicle can enter the waiting area but cannot pass through the intersection. The first traffic signal light associated with the target lane refers to a traffic signal light that needs to be considered for determining whether the waiting area of ​​the target lane can be entered.

[0151] In some embodiments of the present disclosure, an implementation method for determining whether the current state of the first traffic light associated with the target lane is the first traffic signal state based on traffic light data and attributes of the target lane may include: determining the first traffic light and the first traffic signal state associated with the target lane based on traffic light data and attributes of the target lane; determining the current state of the first traffic light based on the traffic light data; and comparing the current state of the first traffic light with the first traffic signal state.

[0152] As a possible implementation, if the target lane is a straight lane, and the traffic light data includes the traffic light data of the straight lane, the traffic light data of the left turn lane, and the traffic light data of the right turn lane, then the first type of traffic light associated with the target lane may include the traffic light of the straight lane and the traffic light of the left turn lane, and the first traffic signal state may be that the traffic light of the straight lane is red, and the traffic light of the left turn lane is green. If the target lane is a straight lane, and the traffic light data includes the traffic light data of the straight lane, the traffic light data of the left turn lane, the traffic light data of the right turn lane, and the traffic light data of the straight waiting area, then the first type of traffic light associated with the target lane may include the traffic light of the straight lane and the traffic light of the straight waiting area, and the first traffic signal state may be that the traffic light of the straight lane is red, and the traffic light of the straight waiting area is green.

[0153] As another possible implementation, if the target lane is a left-turn lane, and the traffic light data includes the traffic light data of the straight lane, the traffic light data of the left-turn lane, and the traffic light data of the right-turn lane, then the first type of traffic light associated with the target lane may include the traffic light of the straight lane and the traffic light of the left-turn lane, and the first traffic signal state may be that the traffic light of the straight lane is green, and the traffic light of the left-turn lane is red. If the target lane is a left-turn lane, and the traffic light data includes the traffic light data of the straight lane, the traffic light data of the left-turn lane, the traffic light data of the right-turn lane, and the traffic light data of the left-turn waiting area, then the first type of traffic light associated with the target lane may include the traffic light of the left-turn lane and the traffic light of the left-turn waiting area, and the first traffic signal state may be that the traffic light of the left-turn lane is red, and the traffic light of the left-turn waiting area is green.

[0154] Step 402: If the current state of the first type of traffic signal light is the first traffic signal state, obtain vehicle information in the waiting area.

[0155] It can be understood that if the current state of the first type of traffic light is the first traffic signal state, it means that the current vehicle can enter the waiting area. However, if other vehicles have entered the waiting area, the vehicle may occupy the zebra crossing when entering the waiting area. Therefore, the vehicle information in the waiting area can be obtained first to determine whether the vehicle can enter the waiting area based on the vehicle information in the waiting area.

[0156] In some embodiments of the present disclosure, the vehicle information of the waiting area may include whether there are vehicles in the waiting area, and may also include information such as the distance between the vehicle in the waiting area and the zebra crossing. As an example, the waiting area of ​​the target lane can be photographed by a camera configured at the front of the vehicle and cameras configured on both sides of the rearview mirror of the vehicle to obtain a vehicle image in the waiting area; vehicle recognition and distance recognition are performed on the vehicle image in the waiting area to obtain vehicle information in the waiting area.

[0157] Step 403: Control the driving behavior of the vehicle in the waiting area according to the vehicle information in the waiting area.

[0158] In some embodiments of the present disclosure, the implementation method of controlling the driving behavior of the vehicle in the waiting area according to the vehicle information in the waiting area may include: determining whether there is a vehicle in the waiting area according to the vehicle information in the waiting area; if there is no vehicle in the waiting area, controlling the vehicle to enter the waiting area. That is, if there is no vehicle in the waiting area, the vehicle will not occupy the zebra crossing when entering the waiting area, so the vehicle can be controlled to enter the waiting area.

[0159] Since the current state of the first traffic light is the first traffic signal state, the current vehicle cannot pass through the intersection, so the real-time distance between the vehicle and the stop line in the waiting area can be obtained, and when the real-time distance is less than or equal to the preset first distance threshold, the vehicle is controlled to brake and stop, and when the state of the first traffic light changes to the traffic signal state that allows passing through the intersection, the vehicle is controlled to drive out of the waiting area. In addition, when the vehicle enters the waiting area, the state of the first traffic light associated with the target lane may have been updated to the traffic signal state that allows passing through the intersection, and at this time, the vehicle can continue to be controlled to drive out of the waiting area to pass through the intersection.

[0160] In some other embodiments of the present disclosure, the implementation method of controlling the driving behavior of the self-vehicle in the waiting area according to the vehicle information in the waiting area may also include: determining whether there is a vehicle in the waiting area according to the vehicle information in the waiting area; if there is a vehicle in the waiting area, determining the remaining space in the waiting area; determining whether the waiting area can accommodate the self-vehicle according to the remaining space and the body length of the self-vehicle; if the waiting area can accommodate the self-vehicle, controlling the self-vehicle to enter the waiting area. In other words, if the remaining space in the waiting area can accommodate the self-vehicle, the self-vehicle will not occupy the zebra crossing when entering the waiting area, so the self-vehicle can be controlled to enter the waiting area.

[0161] According to the vehicle control method of the embodiment of the present disclosure, based on the traffic light data and the properties of the target lane, it is determined whether the current state of the first type of traffic light associated with the target lane is the first traffic signal state. If the current state of the first type of traffic light is the first traffic signal state, the vehicle information in the waiting area is obtained, and the driving behavior of the vehicle in the waiting area is controlled based on the vehicle information in the waiting area. This solution can control the driving behavior of the vehicle in the waiting area based on the vehicle information in the waiting area when the current state of the first type of traffic light is the traffic light state that allows entry into the waiting area, so as to avoid the situation where the vehicle occupies the zebra crossing, thereby improving the safety of autonomous driving and reducing the risk of vehicles passing through intersections.

[0162] In actual scenarios, traffic light data acquired by a vehicle may contain missing traffic light data. In order to ensure the safety of vehicle driving, the present disclosure proposes another embodiment.

[0163] Figure 5 FIG. 1 is a flow chart of another vehicle control method according to an exemplary embodiment. Figure 5 As shown, based on the above embodiments, Figure 1 Step 103 in the method may include the following steps:

[0164] Step 501 : Based on the traffic light data and the attributes of the target lane, it is determined whether the traffic light data of the first type is missing.

[0165] In some embodiments of the present disclosure, information of all traffic lights set at an intersection can be determined through a high-precision map and a positioning module, wherein the information of all traffic lights set at an intersection refers to the total number of traffic lights set at the intersection, such as traffic lights for each lane, and traffic lights in a waiting area; the first traffic light associated with the target road is determined based on the information of all traffic lights set at the intersection and the attributes of the target lane; it is determined whether the data of the first traffic light is included in the traffic light data; if the data of the first traffic light is included in the traffic light data, it is determined that the data of the first type of traffic light is not missing in the traffic light data, otherwise, it is determined that the data of the first type of traffic light is missing in the traffic light data.

[0166] As an example, if based on the high-precision map and positioning module, it can be determined that the intersection is equipped with traffic lights for the straight lane, the left turn lane, the right turn lane and the left turn waiting area, and the target lane is the left turn lane, then it can be determined that the first type of traffic lights are the traffic lights for the left turn lane and the traffic lights for the left turn waiting area; judge whether the traffic light data contains the data of the traffic lights for the left turn lane and the traffic lights for the left turn waiting area. If the traffic light data contains the data of the traffic lights for the left turn lane and the traffic lights for the left turn waiting area, it is determined that the first type of traffic light data is not missing in the traffic light data; otherwise, it is determined that the first type of traffic light data is missing in the traffic light data.

[0167] It is understandable that if the traffic light data at the intersection is obtained based on the camera configured on the vehicle itself, when the intersection is large, the complete traffic light may not be captured, causing the obtained traffic light data to lack the first type of traffic light data, making it impossible to judge the vehicle's driving behavior, posing a threat to the safety of the vehicle's autonomous driving.

[0168] Step 502: If the data of the first type of traffic light is not missing in the traffic light data, determine whether the current state of the first type of traffic light associated with the target lane is the first traffic signal state based on the traffic light data and the attributes of the target lane.

[0169] Step 503: If the current state of the first type of traffic signal light is the first traffic signal state, obtain vehicle information in the waiting area.

[0170] Step 504: Control the driving behavior of the vehicle in the waiting area according to the vehicle information in the waiting area.

[0171] Step 505: If the data of the first type of traffic light is missing in the traffic light data, a first request for entering the waiting area is issued.

[0172] It is understandable that if the data of the first type of traffic light is missing in the traffic light data, the current state of the first traffic light cannot be determined, so it is impossible to determine whether the vehicle has entered the waiting area. In this case, since the driver in the vehicle can determine the current state of the first traffic light, in order to ensure safe driving of the vehicle, a first request to enter the waiting area can be issued, so that the driver can decide whether to enter the waiting area.

[0173] In some embodiments of the present disclosure, the first request for whether to enter the waiting area can be in the form of voice, or can be a selection prompt window popped up on the vehicle system display screen, and the first request for whether to enter the waiting area can also carry a driver feedback method. For example, the first request is in the form of voice, specifically "Please confirm whether to enter the waiting area. If you are sure to enter the waiting area, please press the XX key to confirm."

[0174] Step 506: In response to receiving the feedback instruction of the first request, the driving behavior of the vehicle in the waiting area is controlled according to the feedback instruction of the first request.

[0175] In some embodiments of the present disclosure, if the feedback instruction received for the first request is an instruction to confirm entering the waiting area, the vehicle is controlled to enter the waiting area. If the feedback instruction received for the first request is an instruction not to enter the waiting area, the vehicle is controlled to brake and stop before the stop line of the target lane.

[0176] According to the vehicle control method of the embodiment of the present disclosure, based on the traffic light data and the attributes of the target lane, it is determined whether the data of the first type of traffic light is missing in the traffic light data. If the data of the first type of traffic light is missing in the traffic light data, a first request is issued as to whether to enter the waiting area, and upon receiving the feedback instruction of the first request, the driving behavior of the vehicle in the waiting area is controlled according to the feedback instruction of the first request. This solution can control the driving behavior of the vehicle in the waiting area based on the feedback instruction of the driver when the traffic light data is missing, so as to ensure that the driving of the vehicle meets the traffic regulations and can ensure that the vehicle passes through the intersection safely.

[0177] Figure 6 FIG. 1 is a flow chart of another vehicle control method according to an exemplary embodiment. Figure 6 As shown, based on the above embodiments, Figure 1 Step 103 in the method may further include the following steps:

[0178] Step 601: Based on the traffic light data and the attributes of the target lane, determine whether the current state of the first type of traffic light associated with the target lane is a second traffic signal state.

[0179] The second traffic signal state is a traffic signal state for indicating that the vehicle cannot enter the waiting area.

[0180] As an example, if the attribute of the target lane is a through lane, the first type of traffic lights determined based on the traffic light data are the traffic lights for the through lane and the traffic lights for the left turn lane, then the second traffic signal state is that the traffic lights for the through lane and the left turn lane are both red.

[0181] Step 602: If the current state of the first type of traffic signal light is the second traffic signal state, obtain the real-time distance between the vehicle and the stop line of the target lane.

[0182] Step 603: When the real-time distance is less than or equal to a preset distance threshold, the vehicle is controlled to brake and stop.

[0183] That is to say, in this case, it is necessary to control the vehicle to stop before the stop line of the target lane and wait for the state of the first type of traffic light to change to the traffic signal state that allows entering the waiting area before entering the waiting area.

[0184] In other embodiments of the present disclosure, Figure 1 Step 103 in the method may further include the following steps:

[0185] Step 604 : Based on the traffic light data and the attributes of the target lane, determine whether the current state of the first type of traffic light associated with the target lane is a third traffic signal state.

[0186] Among them, the third type of traffic signal state is a traffic signal state used to indicate that the vehicle can travel through the waiting area, that is, a traffic signal state indicating that the vehicle can travel through the intersection.

[0187] As an example, if the attribute of the target lane is a through lane, the first type of traffic lights determined based on the traffic light data are the traffic lights for the through lane and the traffic lights for the left turn lane, then the second traffic signal state is that the traffic light for the through lane is green, and the traffic light for the left turn lane is in any state.

[0188] Step 605: If the current state of the first type of traffic signal light is the third traffic signal state, control the vehicle to travel through the waiting area.

[0189] It should be noted that in the embodiment of the present disclosure, it is possible to determine whether the data of the first type of traffic light is missing in the traffic light data. When the data of the first type of traffic light is missing in the traffic light data, a request to enter the waiting area can be issued to control whether the vehicle enters the waiting area based on the driver's feedback.

[0190] According to the vehicle control method of the embodiment of the present disclosure, if the current state of the first type of traffic light associated with the target lane is the second traffic signal state, the real-time distance between the vehicle and the stop line of the target lane is obtained, and when the real-time distance is less than or equal to the distance threshold, the vehicle is controlled to brake to ensure that the vehicle can brake before the stop line of the target lane to avoid the vehicle from violating traffic rules at the intersection. In addition, if the current state of the first type of traffic light associated with the target lane is the third traffic signal state, the vehicle is controlled to travel through the waiting area to dynamically control the vehicle's driving behavior based on the traffic state data to ensure that the vehicle passes the intersection safely.

[0191] In some areas, when a waiting area is set at an intersection, the traffic lights at the intersection contain text prompt information indicating whether the driver can enter the waiting area, such as an LED screen for displaying the above text prompt information. In view of this situation, the present disclosure proposes another embodiment.

[0192] Figure 7 FIG. 1 is a flow chart of another vehicle control method according to an exemplary embodiment. Figure 7 As shown, based on the above embodiments, Figure 1 Step 103 in the method may further include the following steps:

[0193] Step 701: Determine whether the traffic light data contains semantic information; wherein the semantic information is information for indicating whether to enter the waiting area.

[0194] As an example, Figure 8 As shown, a straight-ahead waiting area is provided at the intersection, and an LED display screen is installed at the traffic light at the intersection to display semantic information of whether the person can enter the waiting area. In this case, the acquired traffic light data contains semantic information.

[0195] It should be noted that if the traffic light data does not contain semantic information, the driving behavior of the vehicle in the waiting area can be controlled based on the implementation method of the above embodiment.

[0196] Step 702: Determine whether the current state of the second type of traffic light associated with the target lane is a fourth traffic signal state based on the traffic light data and the attributes of the target lane.

[0197] The fourth traffic signal state refers to a traffic signal state in which the intersection cannot be passed directly.

[0198] As an example, if the target lane is a left-turn lane, based on the traffic light data, it is determined that the second type of traffic light associated with the target lane is the traffic light for the left-turn lane and the through lane, then the fourth traffic signal state is that the traffic light for the left-turn lane is red, and the traffic light for the through lane is in any state.

[0199] Step 703: If the current state of the second type of traffic signal light is the fourth traffic signal state, a second request for entering the waiting area is issued.

[0200] It can be understood that the current state of the second type of traffic light is the fourth traffic signal state, which means that it is not possible to directly pass through the intersection at present, and it is necessary to determine whether to enter the waiting area. Since the traffic light data contains semantic information for indicating whether to enter the waiting area, it is no longer necessary to determine whether to enter the waiting area based on the state of the first type of traffic light, but to determine whether to enter the waiting area directly based on the semantic information. In addition, since the content of the semantic information used to indicate whether to enter the waiting area at the intersection is different in different areas, for safety reasons, a second request for entering the waiting area can be issued to allow the driver to determine whether to enter the waiting area.

[0201] In some embodiments of the present disclosure, the second request for whether to enter the waiting area can be in the form of voice, or can be a selection prompt window popped up on the vehicle system display screen, or can be in other feasible forms. At the same time, the second request for whether to enter the waiting area can also carry a driver feedback method. For example, the second request is in the form of voice, specifically "Please confirm whether to enter the waiting area. If you are sure to enter the waiting area, please press the XX key to confirm."

[0202] Step 704 , in response to receiving the feedback instruction of the second request, controlling the driving behavior of the vehicle in the waiting area according to the feedback instruction of the second request.

[0203] As an example, if the feedback instruction is an instruction to confirm entering the waiting area, the vehicle is controlled to enter the waiting area; if the feedback instruction is an instruction not to enter the waiting area, the real-time distance between the vehicle and the stop line of the target lane is obtained, and when the real-time distance is less than or equal to a preset distance threshold, the vehicle is controlled to brake to a stop.

[0204] According to the vehicle control method of the embodiment of the present disclosure, the traffic light data contains semantic information for indicating whether to enter the waiting area, and the current state of the first traffic light is the fourth traffic signal state, then a second request for whether to enter the waiting area is issued, and when a feedback instruction of the second request is received, the driving behavior of the vehicle in the waiting area is controlled according to the feedback instruction. This solution can be used for the situation where a device displaying text information of whether to enter the waiting area is set at the intersection, and whether to enter the waiting area is left to the driver to confirm, so as to ensure the accuracy of the judgment, and at the same time, it can further improve the safety of automatic driving.

[0205] Next, taking the target lane as a left-turn lane as an example, the above vehicle control method is explained in the form of an example.

[0206] Fig. 9 FIG. 1 is an example diagram of a vehicle control method according to an exemplary embodiment. Fig. 9As shown, when the vehicle is about to turn left through an intersection, the following steps are performed: (1) Identify whether the lane where the vehicle is located has a left-turn waiting area; (2) If the lane where the vehicle is located has a left-turn waiting area, determine the current state of the traffic light, otherwise pass according to general intersection rules; (3) If the current left turn light is red and the straight line light is green, determine whether the vehicle will occupy the zebra crossing after entering the waiting area; (4) If the vehicle does not occupy the zebra crossing after entering the waiting area, enter the waiting area and brake before the stop line of the waiting area; (5) If the current left turn light is red and the straight line light is red, or the vehicle occupies the zebra crossing after entering the waiting area, do not enter the waiting area and brake before the stop line of the intersection; (6) If the current left turn light is green, turn left normally through the intersection.

[0207] Next, taking the target lane as a straight lane as an example, the above vehicle control method is explained in the form of an example.

[0208] Fig.10 FIG. 1 is an example diagram of another vehicle control method according to an exemplary embodiment. Fig.10 As shown, when the vehicle is about to go straight through the intersection, the following steps will be performed: (1) Identify whether the lane where the vehicle is located has a straight-through waiting area; (2) If the lane where the vehicle is located has a straight-through waiting area, determine the current state of the traffic light, otherwise pass according to general intersection rules; (3) If the current left turn light is green and the straight-through light is red, determine whether the vehicle will occupy the zebra crossing after entering the straight-through waiting area; (4) If the vehicle does not occupy the zebra crossing after entering the straight-through waiting area, enter the straight-through waiting area and brake before the stop line of the straight-through waiting area; (5) If the current left turn light is red and the straight-through light is red, or the vehicle occupies the zebra crossing after entering the straight-through waiting area, do not enter the straight-through waiting area and brake before the stop line of the intersection; (6) If the current straight-through light is green, go straight through the intersection normally.

[0209] In order to implement the above-mentioned embodiments, the present disclosure provides a vehicle control device.

[0210] Fig.11 FIG. 1 is a structural block diagram of a vehicle control device according to an exemplary embodiment. Fig.11 As shown, the device includes a determination module 1110, an acquisition module 1120 and a control module 1130. Among them:

[0211] A determination module 1110, for determining the attributes of the target lane where the vehicle is located in response to the vehicle entering the intersection, and determining whether there is a waiting area in the target lane;

[0212] An acquisition module 1120 is used to acquire traffic light data at the intersection when there is a waiting area in the target lane;

[0213] The control module 1130 is used to control the driving behavior of the vehicle in the waiting area based on the traffic light data and the attributes of the target lane.

[0214] As a possible implementation manner, the determination module 1110 is specifically configured to:

[0215] Based on the high-precision map and positioning module configured in the vehicle, the waiting area information of the intersection and the attributes of the target lane are obtained;

[0216] According to the waiting area information, determine whether there is a waiting area corresponding to the attributes of the target lane at the intersection;

[0217] If there is a waiting area corresponding to the attribute of the target lane at the intersection, it is determined that there is a waiting area for the target lane.

[0218] As another possible implementation, the determining module 1110 is further configured to:

[0219] Based on the image acquisition device equipped on the vehicle, the lane image of the intersection is obtained;

[0220] Performing first target recognition on the lane image to determine the attributes of the target lane where the vehicle is located;

[0221] Performing a second target recognition on the lane image to determine whether there is a dotted lane corresponding to the attributes of the target lane at the intersection;

[0222] If there is a dashed lane corresponding to the attributes of the target lane at the intersection, it is determined that there is a waiting area in the target lane.

[0223] In some embodiments of the present disclosure, the control module 1130 includes:

[0224] The first determining unit 1131 is used to determine whether the current state of the first type of traffic light associated with the target lane is a first traffic signal state based on the traffic light data and the attribute of the target lane;

[0225] The acquisition unit 1132 is used to acquire vehicle information in the waiting area if the current state of the first type of traffic signal light is the first traffic signal state;

[0226] The first control unit 1133 is used to control the driving behavior of the vehicle in the waiting area according to the vehicle information in the waiting area.

[0227] As an example, the first control unit 1133 is specifically configured to:

[0228] Determine whether there is a vehicle in the waiting area according to the vehicle information in the waiting area;

[0229] If there is no vehicle in the waiting area, control your vehicle to enter the waiting area.

[0230] As another example, the first control unit 1133 is further configured to:

[0231] Determine whether there is a vehicle in the waiting area according to the vehicle information in the waiting area;

[0232] If there are vehicles in the waiting area, determine the remaining space in the waiting area;

[0233] Determine whether the waiting area can accommodate the vehicle based on the remaining space and the length of the vehicle;

[0234] If the waiting area can accommodate the vehicle, control the vehicle to enter the waiting area.

[0235] In some other embodiments of the present disclosure, the control module 1130 further includes:

[0236] A second determining unit 1134 is used to determine whether the data of the first type of traffic light is missing in the traffic light data based on the traffic light data and the attribute of the target lane;

[0237] The request unit 1135 is used to issue a first request for entering the waiting area if the data of the first type of traffic light is missing in the traffic light data;

[0238] The second control unit 1136 is used to control the driving behavior of the vehicle in the waiting area in response to receiving the feedback instruction of the first request according to the feedback instruction of the first request;

[0239] Among them, the first determination unit 1131 is used to determine whether the current state of the first type of traffic light associated with the target lane is the first traffic signal state based on the traffic light data and the attributes of the target lane if the data of the first type of traffic light is not missing in the traffic light data.

[0240] As a possible implementation, the control module 1130 is specifically configured to:

[0241] Based on the traffic light data and the properties of the target lane, determining whether a current state of the first type of traffic light associated with the target lane is a second traffic signal state;

[0242] If the current state of the first type of traffic signal light is the second traffic signal state, obtaining the real-time distance between the vehicle and the stop line of the target lane;

[0243] When the real-time distance is less than or equal to the preset distance threshold, the vehicle is controlled to brake and stop.

[0244] As another possible implementation, the control module 1130 is further configured to:

[0245] Determining, based on the traffic light data and the properties of the target lane, whether a current state of the first type of traffic light associated with the target lane is a third traffic signal state;

[0246] If the current state of the first type of traffic signal light is the third traffic signal state, the vehicle is controlled to travel through the waiting area.

[0247] In some embodiments of the present disclosure, the control module 1130 is further configured to:

[0248] Determining that the traffic light data contains semantic information; wherein the semantic information is information for indicating whether to enter the waiting area;

[0249] Determining, based on the traffic light data and the properties of the target lane, whether a current state of the second type of traffic light associated with the target lane is a fourth traffic signal state;

[0250] If the current state of the second type of traffic signal light is the fourth traffic signal state, issuing a second request whether to enter the waiting area;

[0251] In response to receiving the feedback instruction of the second request, the driving behavior of the vehicle in the waiting area is controlled according to the feedback instruction of the second request.

[0252] As an example, the control module 1130 is further configured to:

[0253] If the feedback instruction is an instruction to confirm entering the waiting area, the vehicle is controlled to enter the waiting area.

[0254] According to the vehicle control device of the disclosed embodiment, when the vehicle enters the intersection, the properties of the target lane where the vehicle is located are determined, and whether there is a waiting area in the target lane. If there is a waiting area in the target lane, the traffic light data of the intersection is obtained, and the driving behavior of the vehicle in the waiting area is controlled based on the traffic light data and the properties of the target lane. In other words, this solution can dynamically control the driving behavior of the vehicle in the waiting area based on the traffic light data and the type of the specific waiting area, so as to ensure the safe passage of the autonomous driving vehicle through the intersection and reduce the risk of vehicle passage.

[0255] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0256] In order to implement the above embodiments, the present disclosure also provides a vehicle equipped with the vehicle control device described in the above embodiments.

[0257] In order to implement the above embodiments, the present disclosure also provides another vehicle.

[0258] Fig.12FIG. 1 is a structural block diagram of a vehicle according to an exemplary embodiment. Fig.12 As shown, the vehicle 1200 includes:

[0259] A processing component 1202 , a memory 1204 , a power component 1206 , a multimedia component 1208 , an audio component 1210 , an input / output (I / O) interface 1212 , a sensor component 1214 , and a communication component 1216 .

[0260] The processing component 1202 generally controls the overall operation of the vehicle 1200, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 1202 may include one or more processors 1220 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 1202 may include one or more modules to facilitate the interaction between the processing component 1202 and other components. For example, the processing component 1202 may include a multimedia module to facilitate the interaction between the multimedia component 1208 and the processing component 1202.

[0261] The memory 1204 is configured to store various types of data to support operations on the device 1200. Examples of such data include instructions for any application or method operating on the vehicle 1200, contact data, phone book data, messages, pictures, videos, etc. The memory 1204 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0262] The power assembly 1206 provides power to various components of the vehicle 1200. The power assembly 1206 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the vehicle 1200.

[0263] The multimedia component 1208 includes a screen that provides an output interface between the vehicle 1200 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 12012 includes a front camera and / or a rear camera. When the device 1200 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0264] The audio component 1210 is configured to output and / or input audio signals. For example, the audio component 1210 includes a microphone (MIC), and when the vehicle 1200 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 1204 or sent via the communication component 1216. In some embodiments, the audio component 1210 also includes a speaker for outputting audio signals.

[0265] I / O interface 1212 provides an interface between processing component 1202 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0266] The sensor assembly 1214 includes one or more sensors for providing various aspects of the status assessment of the vehicle 1200. For example, the sensor assembly 1214 can detect the open / closed state of the device 1200, the relative positioning of components, such as the display and keypad of the vehicle 1200, the sensor assembly 1214 can also detect the position change of the vehicle 1200 or a component of the vehicle 1200, the presence or absence of user contact with the vehicle 1200, the orientation or acceleration / deceleration of the vehicle 1200, and the temperature change of the vehicle 1200. The sensor assembly 1214 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 1214 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1214 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0267] The communication component 1216 is configured to facilitate wired or wireless communication between the vehicle 1200 and other devices. The vehicle 1200 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1216 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1216 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0268] In an exemplary embodiment, the vehicle 1200 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the vehicle control methods described in the above embodiments.

[0269] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1204 including instructions, which can be executed by a processor 1220 of the vehicle 1200 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0270] In an exemplary embodiment, a computer program product is also provided. When instructions in the computer program product are executed by a processor in the vehicle 1200, the vehicle 1200 executes the vehicle control method described in the above embodiment.

[0271] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed in this disclosure. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0272] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: In response to the vehicle entering the intersection, determining the attributes of the target lane where the vehicle is located, and determining whether there is a waiting area in the target lane; If there is a waiting area in the target lane, obtain the traffic light data of the intersection; Based on the traffic light data and the attributes of the target lane, the driving behavior of the vehicle in the waiting area is controlled.

2. The method according to claim 1, characterized in that: The determining of the attribute of the target lane where the vehicle is located and determining whether there is a waiting area in the target lane includes: Based on the high-precision map and positioning module configured in the vehicle, the waiting area information of the intersection and the attributes of the target lane are obtained; According to the waiting area information, determining whether there is a waiting area corresponding to the attribute of the target lane at the intersection; If the intersection has a waiting area corresponding to the attribute of the target lane, it is determined that the target lane has a waiting area.

3. The method according to claim 1, characterized in that The determining of the attribute of the target lane where the vehicle is located and determining whether there is a waiting area in the target lane includes: Based on the image acquisition device equipped on the vehicle, an image of the lane of the intersection is acquired; Performing a first target recognition on the lane image to determine the attribute of the target lane where the vehicle is located; Performing a second target recognition on the lane image to determine whether there is a dotted lane corresponding to the attributes of the target lane at the intersection; If a dashed lane corresponding to the attribute of the target lane exists at the intersection, it is determined that a waiting area exists in the target lane.

4. The method according to claim 1, characterized in that: The controlling of the driving behavior of the vehicle in the waiting area based on the traffic light data and the attribute of the target lane includes: Based on the traffic light data and the properties of the target lane, determining whether a current state of a first type of traffic light associated with the target lane is a first traffic signal state; If the current state of the first type of traffic signal light is the first traffic signal state, obtaining vehicle information in the waiting area; The driving behavior of the vehicle in the waiting area is controlled according to the vehicle information in the waiting area.

5. The method according to claim 4, characterized in that The controlling the driving behavior of the vehicle in the waiting area according to the vehicle information in the waiting area includes: Determining whether there is a vehicle in the waiting area according to the vehicle information in the waiting area; If there is no vehicle in the waiting area, control the vehicle to enter the waiting area.

6. The method according to claim 4, characterized in that The controlling the driving behavior of the vehicle in the waiting area according to the vehicle information in the waiting area includes: Determining whether there is a vehicle in the waiting area according to the vehicle information in the waiting area; If there is a vehicle in the waiting area, determining the remaining space in the waiting area; Determining whether the waiting area can accommodate the vehicle according to the remaining space and the length of the vehicle; If the waiting area can accommodate the vehicle, the vehicle is controlled to enter the waiting area.

7. The method according to any one of claims 4 to 6, characterized in that Also includes: Based on the traffic light data and the attributes of the target lane, determining whether data of the first type of traffic light is missing in the traffic light data; If the data of the first type of traffic light is not missing in the traffic light data, performing the step of determining whether the current state of the first type of traffic light associated with the target lane is the first traffic signal state based on the traffic light data and the attributes of the target lane; If the data of the first type of traffic light is missing from the traffic light data, issuing a first request for entering the waiting area; In response to receiving the feedback instruction of the first request, the driving behavior of the vehicle in the waiting area is controlled according to the feedback instruction of the first request.

8. The method according to claim 1, characterized in that The controlling of the driving behavior of the vehicle in the waiting area based on the traffic light data and the attribute of the target lane includes: Based on the traffic light data and the properties of the target lane, determining whether a current state of a first type of traffic light associated with the target lane is a second traffic signal state; If the current state of the first type of traffic signal light is the second traffic signal state, obtaining a real-time distance between the vehicle and the stop line of the target lane; When the real-time distance is less than or equal to a preset distance threshold, the vehicle is controlled to brake to a stop.

9. The method according to claim 1, characterized in that: The controlling of the driving behavior of the vehicle in the waiting area based on the traffic light data and the attribute of the target lane includes: Based on the traffic light data and the properties of the target lane, determining whether a current state of the first type of traffic light associated with the target lane is a third traffic signal state; If the current state of the first type of traffic signal light is the third traffic signal state, the vehicle is controlled to travel through the waiting area.

10. The method according to claim 1, characterized in that The controlling of the driving behavior of the vehicle in the waiting area based on the traffic light data and the attribute of the target lane includes: Determining that the traffic light data contains semantic information; wherein the semantic information is information for indicating whether to enter the waiting area; Based on the traffic light data and the properties of the target lane, determining whether a current state of the second type of traffic light associated with the target lane is a fourth traffic signal state; If the current state of the second type of traffic signal light is the fourth traffic signal state, issuing a second request for entering the waiting area; In response to receiving the feedback instruction of the second request, the driving behavior of the vehicle in the waiting area is controlled according to the feedback instruction of the second request.

11. The method according to claim 10, characterized in that The controlling the driving behavior of the vehicle in the waiting area according to the feedback instruction includes: If the feedback instruction is an instruction to confirm entering the waiting area, the vehicle is controlled to enter the waiting area.

12. A vehicle control device, characterized in that: include: A determination module, configured to determine the attributes of a target lane where the vehicle is located, and determine whether there is a waiting area in the target lane in response to the vehicle entering the intersection; An acquisition module, used for acquiring the traffic light data of the intersection when there is a waiting area in the target lane; A control module is used to control the driving behavior of the vehicle in the waiting area based on the traffic light data and the attributes of the target lane.

13. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle control method according to any one of claims 1 to 11 is implemented.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 11 is implemented.

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